[itex]\textbf{x}[/itex] = [ [itex]\textbf{ε}[/itex][itex]_{1}[/itex][itex]\;[/itex] [itex]\textbf{ε}[/itex][itex]_{2}[/itex] ][itex]^{T}[/itex] containing Euler angles [itex]\mathbf{ε}[/itex] such that direction cosine matrix [itex]\textbf{C}[/itex][itex]^{n}_{b1}[/itex] is a function of [itex]\textbf{ε}[/itex][itex]_{1}[/itex] and [itex]\textbf{C}[/itex][itex]^{n}_{b2}[/itex] is a function of [itex]\textbf{ε}[/itex][itex]_{2}[/itex] (through the relationship linking Euler angles and their corresponding cosine matrix), and [itex] b1, b2, n [/itex] are different reference frames.

I want to linearize [itex]\textbf{h}[/itex]([itex]\textbf{x}[/itex]) with respect to [itex]\textbf{ε}[/itex][itex]_{1}[/itex] and [itex]\textbf{ε}[/itex][itex]_{2}[/itex], which should give me the following (3 x 6) matrix: